abn_encoder_reader.cpp File Reference

ABN Encoder Position Reader - Continuously reads encoder position. More...

#include "../../../inc/tmc51x0.hpp"
#include "test_config/esp32_tmc51x0_bus.hpp"
#include "test_config/esp32_tmc51x0_test_config.hpp"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <cinttypes>

Include dependency graph for abn_encoder_reader.cpp:

Functions
void	app_main (void)

Variables
static const char *	TAG = "ABN_Encoder"
static constexpr tmc51x0_test_config::TestRigType	SELECTED_TEST_RIG
static constexpr uint16_t	ENCODER_PPR = 4096
static constexpr bool	ENCODER_INVERT_DIRECTION = false
static constexpr tmc51x0::ReferenceSwitchActiveLevel	N_CHANNEL_ACTIVE
static constexpr tmc51x0::EncoderNSensitivity	N_SENSITIVITY
static constexpr tmc51x0::EncoderClearMode	N_CLEAR_MODE
static constexpr uint32_t	READ_INTERVAL_MS = 100

Detailed Description

ABN Encoder Position Reader - Continuously reads encoder position.

This example demonstrates how to configure and continuously read position from an ABN (incremental) encoder connected to the TMC5160.

Configured for AS5047U Encoder:

• 14-bit resolution: 16,384 positions per revolution
• ABI (incremental) mode: 4,096 PPR (pulses per revolution)
• Quadrature encoding: 4,096 PPR × 4 = 16,384 counts per revolution
• Index pulse (I channel): One pulse per revolution (equivalent to N channel)
• Output: A, B, and I (index) channels

ABN Encoder Configuration:

• A/B channels: Quadrature encoder signals (required)
• N/I channel: Index/zero pulse (one pulse per revolution)
• AS5047U default: 4,096 PPR in ABI mode

Hardware Requirements:

• ESP32 development board
• TMC5160 stepper motor driver
• AS5047U encoder connected to TMC5160 encoder pins:
  • A channel → TMC5160 ENC_A pin
  • B channel → TMC5160 ENC_B pin
  • I channel (index) → TMC5160 ENC_N pin
• SPI connection between ESP32 and TMC5160
• Motor connected (encoder reads motor position)

Pin Configuration (uses default dev board pins from esp32_tmc51x0_test_config.hpp):

• SPI: MOSI=6, MISO=2, SCLK=5, CS=18
• Control: EN=11, CLK=10, DIAG0=23, DIAG1=15
• Encoder: A, B, I (index) channels connected to TMC5160 encoder interface

Author

Nebiyu Tadesse

Date

2025

Function Documentation

app_main()

void app_main

(

void

)

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Variable Documentation

ENCODER_INVERT_DIRECTION

constexpr bool ENCODER_INVERT_DIRECTION = false

staticconstexpr

ENCODER_PPR

constexpr uint16_t ENCODER_PPR = 4096

staticconstexpr

N_CHANNEL_ACTIVE

constexpr tmc51x0::ReferenceSwitchActiveLevel N_CHANNEL_ACTIVE

staticconstexpr

Initial value:

= 
    tmc51x0::ReferenceSwitchActiveLevel::ACTIVE_HIGH

N_CLEAR_MODE

constexpr tmc51x0::EncoderClearMode N_CLEAR_MODE

staticconstexpr

Initial value:

= 
    tmc51x0::EncoderClearMode::ONCE

N_SENSITIVITY

constexpr tmc51x0::EncoderNSensitivity N_SENSITIVITY

staticconstexpr

Initial value:

= 
    tmc51x0::EncoderNSensitivity::RISING_EDGE

READ_INTERVAL_MS

constexpr uint32_t READ_INTERVAL_MS = 100

staticconstexpr

SELECTED_TEST_RIG

constexpr tmc51x0_test_config::TestRigType SELECTED_TEST_RIG

staticconstexpr

Initial value:

= 
    tmc51x0_test_config::TestRigType::TEST_RIG_FATIGUE

TAG

const char* TAG = "ABN_Encoder"

static